JPH0663888A - Hand for robot - Google Patents

Hand for robot

Info

Publication number
JPH0663888A
JPH0663888A JP24570892A JP24570892A JPH0663888A JP H0663888 A JPH0663888 A JP H0663888A JP 24570892 A JP24570892 A JP 24570892A JP 24570892 A JP24570892 A JP 24570892A JP H0663888 A JPH0663888 A JP H0663888A
Authority
JP
Japan
Prior art keywords
hand
bag body
pressing roller
holding claws
stacking
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
JP24570892A
Other languages
Japanese (ja)
Inventor
Kazuyoshi Ishimoto
一義 石本
Norio Shimojo
紀雄 下城
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yaskawa Electric Corp
Original Assignee
Yaskawa Electric Corp
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yaskawa Electric Corp filed Critical Yaskawa Electric Corp
Priority to JP24570892A priority Critical patent/JPH0663888A/en
Publication of JPH0663888A publication Critical patent/JPH0663888A/en
Pending legal-status Critical Current

Links

Landscapes

  • Manipulator (AREA)

Abstract

PURPOSE:To facilitate multiple stacking, and to shorten the working hours by providing a pressing roller that is capable of being turned in the direction perpendicular to the opening/closing direction of holding claws, to the lower part of a hand. CONSTITUTION:A pressing roller 74 that is capable of being turned in the direction perpendicular to the opening/closing direction of holding claws 71 is provided to the lower part of a hand 7 having openable holding claws 71 for a robot 6. When the hand 7 is reciprocated in the turning direction of the pressing roller 74 while pressing the roller 74 against the upper surface of a bag body 2, the upper surface of the bag body 2 is formed flat. By lifting up the bag body 2 whose upper surface has been flattened like this by means of the holding claws 71, and by stacking it on a pallet or the like, each of the bag bodies 2 stacked from first stage to multiple stages is formed in a flat shape having the same height, and multiple stacking can be facilitated.

Description

【発明の詳細な説明】Detailed Description of the Invention

【0001】[0001]

【産業上の利用分野】本発明は、米などの穀類や粉体を
収納した袋を掴んで積み上げる等の動作を行うハンドリ
ングロボット用ハンドに関する。
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a handling robot hand for carrying out operations such as grasping and stacking bags containing grains such as rice and powder.

【0002】[0002]

【従来の技術】従来、例えば米を袋詰めした米袋等の袋
体をロボットで掴み、パレットに積み上げていく場合、
図5に示すように、ホッパー1から米を一定量詰め込ま
れた袋体2は、ベルトコンベア3によって縫製機4に運
ばれ、縫製機4では袋体2の口21を縫製してハンドリ
ングコンベア5に送られる。ハンドリングコンベア5に
送られた袋体2は袋体ハンドリングロボット6に設け
た、開閉し得る把持爪71を備えたハンド7によって抱
きかかえられるように掴み上げられてパレット8上に積
み重ねられる。
2. Description of the Related Art Conventionally, for example, when a robot grabs bags such as rice bags filled with rice and stacks them on a pallet,
As shown in FIG. 5, the bag body 2 in which a certain amount of rice is packed from the hopper 1 is carried to the sewing machine 4 by the belt conveyor 3, and the mouth 21 of the bag body 2 is sewn in the sewing machine 4 by the handling conveyor 5 Sent to. The bags 2 sent to the handling conveyor 5 are picked up and stacked on a pallet 8 so as to be held by a hand 7 provided on the bag handling robot 6 and provided with gripping claws 71 that can be opened and closed.

【0003】[0003]

【発明が解決しようとする課題】ところが、上記構成で
は、袋体2の口21は上向きの状態で縫製機4によって
閉じられるので下膨れの状態となり、袋体2はこの下膨
れで倒された状態でハンドリングコンベア5に搬送され
る。下膨れの状態の袋体2をハンド7によってパレット
8に多段に積み重ねると、図6(a)に示すように、多
段に積み重ねられた上部では大きく傾いたり、積み上げ
高さが高くなったりして、多段に積み重ねることが難し
くなる。また、袋体の口の方向を互い違いに向きを変え
て積み重ね、図6(b)に示すように、多段に積み重ね
た上面をほぼ水平にする方法もあるが、ハンドの方向を
袋体1個掴む毎に180度回転する必要があり、多くの
時間を要するという欠点があった。本発明は、袋体の上
面を平らな形状にして、多段に積み重ねができるように
すること目的とするものである。
However, in the above configuration, the mouth 21 of the bag body 2 is closed by the sewing machine 4 in the upward state, and thus the bag body 2 is inflated downward, and the bag body 2 is collapsed by this downward inflation. It is conveyed to the handling conveyor 5. When the bags 2 in the downwardly bulged state are stacked in multiple stages on the pallet 8 by the hand 7, as shown in FIG. 6 (a), the upper part of the stacked stages is greatly inclined or the stacking height becomes high. It becomes difficult to stack in multiple stages. There is also a method in which the bag mouths are stacked with their mouths turned in different directions, and the upper surface of the stacks is made almost horizontal as shown in FIG. 6 (b). It had to be rotated 180 degrees each time it was gripped, which was a disadvantage that it took a lot of time. An object of the present invention is to make the upper surface of the bag flat so that it can be stacked in multiple stages.

【0004】[0004]

【課題を解決するための手段】本発明は、開閉し得る把
持爪を有するロボット用ハンドにおいて、前記ハンドの
下方に前記把持爪の開閉方向と直角方向に回転し得る押
し付けローラを設けたものである。
According to the present invention, a robot hand having a gripping claw that can be opened and closed is provided with a pressing roller that can rotate in a direction perpendicular to the opening and closing direction of the gripping claw below the hand. is there.

【0005】[0005]

【作用】ハンドの下方に押し付けローラを設けてあるの
で、袋体の上面に押し付けローラを押し付けたまま、押
し付けローラの回転方向にハンドを往復移動させると、
袋体の上面が平らに形成される。このように上面が平ら
な袋体を把持爪によって持ち上げ、パレットなどに積み
上げると、1段目から多段に積み上げた上部まで袋体の
上面が高さが同じ平面状になり、多段に積み上げること
が容易となる。
Since the pressing roller is provided below the hand, when the pressing roller is pressed against the upper surface of the bag body and the hand is reciprocated in the rotating direction of the pressing roller,
The upper surface of the bag body is formed flat. In this way, if the bags with a flat top surface are lifted by the gripping claws and stacked on a pallet, etc., the top surface of the bags will have the same flat surface from the first stack to the top stacked in multiple stages, and thus the stack can be stacked in multiple stages. It will be easy.

【0006】[0006]

【実施例】本発明を図に示す実施例について説明する。
図1は本発明の実施例を示す側面図、図2は正面図で、
袋体ハンドリングロボット6のハンド7には基部72に
中間部をピン連結し、一方端を往復運動し得るシリンダ
73にピン連結して開閉し得るようにし、かつ複数個に
分割した把持爪71を設けてある。把持爪71の他方端
は鍵状に形成して、把持爪71を閉じた時に袋体2を抱
き上げるようにしてある。なお、把持爪71はハンドリ
ングコンベア5のローラ51と干渉しないように、隣り
合う把持爪71の先端の間隔をローラ51と同じにして
ある。基部72の下方には、把持爪71の開閉方向と直
角方向に回転し、かつ把持爪71の分割された方向と同
じ方向に配列した複数個の押し付けローラ74を設けて
ある。ハンドリングコンベア5に送られた袋体2をハン
ド7の把持爪71によって持ちあげる場合、まず、図3
および図4に実線で示すように、把持爪71を開いた状
態でハンド7を下膨れの状態の袋体2の上方に移動させ
る。この状態から、図1および図2に示すように、ハン
ド7を下降させて、押し付けローラ74を袋体2の上面
に押し付ける。袋体2の上面に押し付けローラ74を押
し付けたまま、押し付けローラ74の回転方向にハンド
7を往復移動させて、袋体2の上面を平らに形成する。
次に、ハンド7を上昇させ、図3の一点鎖線で示すよう
に、把持爪71をシリンダ73により閉じて、上面が平
らな袋体2を抱き込み、ハンド7を移動してパレット上
に積み降ろす。なお、上記は分割した把持爪と複数個の
押し付けローラを備えたものについて説明したが、把持
爪は袋体の平らな形状を変化させず、かつハンドリング
コンベア等の他の設備と干渉しないものであれば分割し
なくてもよく、また、押し付けローラも複数個でなくて
もよい。
Embodiments of the present invention will be described with reference to the drawings.
1 is a side view showing an embodiment of the present invention, FIG. 2 is a front view,
In the hand 7 of the bag handling robot 6, a middle portion is pin-connected to a base portion 72, one end is connected to a cylinder 73 capable of reciprocating motion so as to be opened and closed, and a grip claw 71 divided into a plurality of pieces is provided. It is provided. The other end of the grip claw 71 is formed in a key shape so that the bag body 2 is lifted when the grip claw 71 is closed. The grip claws 71 have the same spacing between the tips of the adjacent grip claws 71 as the roller 51 so as not to interfere with the rollers 51 of the handling conveyor 5. Below the base portion 72, a plurality of pressing rollers 74 that rotate in a direction perpendicular to the opening / closing direction of the grip claw 71 and that are arranged in the same direction as the direction in which the grip claw 71 is divided are provided. When the bag body 2 sent to the handling conveyor 5 is lifted by the grip claws 71 of the hand 7, first, as shown in FIG.
Further, as indicated by a solid line in FIG. 4, the hand 7 is moved above the bag body 2 in the inflated state with the grip claw 71 open. From this state, as shown in FIGS. 1 and 2, the hand 7 is lowered to press the pressing roller 74 against the upper surface of the bag body 2. While pressing the pressing roller 74 against the upper surface of the bag body 2, the hand 7 is reciprocated in the rotation direction of the pressing roller 74 to flatten the upper surface of the bag body 2.
Next, the hand 7 is lifted up, and the grip claw 71 is closed by the cylinder 73 as shown by the alternate long and short dash line in FIG. 3 to hold the bag body 2 having a flat upper surface and move the hand 7 to stack it on the pallet. take down. Although the above description has been provided with the divided gripping claw and a plurality of pressing rollers, the gripping claw does not change the flat shape of the bag body and does not interfere with other equipment such as a handling conveyor. If it is present, it need not be divided, and the pressing roller need not be plural.

【0007】[0007]

【発明の効果】以上述べたように、本発明によれば、ハ
ンドに押し付けローラを設け、ハンドに設けた把持爪に
よって袋体等の袋体を持ちあげる前に、押し付けローラ
によって袋体の上面を平らに形成するので、把持爪によ
って把持してパレットなどに積み上げる時、1段目から
多段に積み上げた上部まで袋体の上面が高さが同じで、
かつ平面状になり、多段に積み上げることが容易となる
と共に、作業時間が短縮される効果がある。
As described above, according to the present invention, the pressing roller is provided on the hand, and the upper surface of the bag body is pressed by the pressing roller before the bag body such as the bag body is lifted by the gripping claws provided on the hand. Since it is formed flat, the top surface of the bag body is the same height from the first stage to the upper part where multiple layers are stacked when gripping with a gripping claw and stacking on a pallet, etc.
In addition, it has a flat shape, which facilitates stacking in multiple stages and has an effect of shortening the working time.

【図面の簡単な説明】[Brief description of drawings]

【図1】本発明の実施例を示す側面図である。FIG. 1 is a side view showing an embodiment of the present invention.

【図2】図1の正面図である。FIG. 2 is a front view of FIG.

【図3】本発明の実施例の動作中を示す側面図である。FIG. 3 is a side view showing the operation of the embodiment of the present invention.

【図4】図3の正面図である。FIG. 4 is a front view of FIG.

【図5】従来例を示す斜視図である。FIG. 5 is a perspective view showing a conventional example.

【図6】従来例の袋体の積み重ね状態を示す側面図であ
る。
FIG. 6 is a side view showing a stacking state of bags according to a conventional example.

【符号の説明】[Explanation of symbols]

5 ハンドリングコンベア 51 ローラ 6 袋対ハンドリングロボット 7 ハンド 71 把持爪 72 基部 73 シリンダ 74 押し付けローラ 5 Handling Conveyor 51 Roller 6 Bag-to-Handling Robot 7 Hand 71 Gripping Claw 72 Base 73 Cylinder 74 Pressing Roller

Claims (1)

【特許請求の範囲】[Claims] 【請求項1】 開閉し得る把持爪を有するロボット用ハ
ンドにおいて、前記ハンドの下方に前記把持爪の開閉方
向と直角方向に回転し得る押し付けローラを設けたこと
を特徴とするロボット用ハンド。
1. A robot hand having a grip claw that can be opened and closed, wherein a pressing roller that can rotate in a direction perpendicular to the opening and closing direction of the grip claw is provided below the hand.
JP24570892A 1992-08-21 1992-08-21 Hand for robot Pending JPH0663888A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP24570892A JPH0663888A (en) 1992-08-21 1992-08-21 Hand for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP24570892A JPH0663888A (en) 1992-08-21 1992-08-21 Hand for robot

Publications (1)

Publication Number Publication Date
JPH0663888A true JPH0663888A (en) 1994-03-08

Family

ID=17137629

Family Applications (1)

Application Number Title Priority Date Filing Date
JP24570892A Pending JPH0663888A (en) 1992-08-21 1992-08-21 Hand for robot

Country Status (1)

Country Link
JP (1) JPH0663888A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5685146A (en) * 1995-05-23 1997-11-11 Toyoda Koki Kabushiki Kaisha Power steering apparatus with a flow control unit
JP2018172216A (en) * 2017-03-30 2018-11-08 Biデザイン合同会社 Roller conveyor device and plate conveyance insertion and sorting device equipped with roller conveyor device
JP2019025595A (en) * 2017-07-31 2019-02-21 パナソニックIpマネジメント株式会社 Electronic equipment assembling apparatus and electronic equipment assembling method

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5685146A (en) * 1995-05-23 1997-11-11 Toyoda Koki Kabushiki Kaisha Power steering apparatus with a flow control unit
JP2018172216A (en) * 2017-03-30 2018-11-08 Biデザイン合同会社 Roller conveyor device and plate conveyance insertion and sorting device equipped with roller conveyor device
JP2019025595A (en) * 2017-07-31 2019-02-21 パナソニックIpマネジメント株式会社 Electronic equipment assembling apparatus and electronic equipment assembling method

Similar Documents

Publication Publication Date Title
US6453645B1 (en) Method and apparatus for packaging flat articles
CN105690362B (en) A kind of multi-functional robot palletizer based on Stewart parallel connection platforms
CN104192380B (en) Automatic packaging streamline and technology of the package
US4302142A (en) Apparatus for automatically loading eggs directly from stacks of egg-filled flats
CN107285055B (en) Self-adaptive gripper type discharging device and discharging method
JPH11189201A (en) Bagging method and device
CN105690363B (en) A kind of robot palletizer based on parallel institution
CN105773571A (en) Multifunctional stacking manipulator capable of cooperative work
CN205996522U (en) A kind of lipstick barred body assemble mechanism
US20120169078A1 (en) Gripper for a manipulator
US20060263196A1 (en) Device for removing and disposing a stack of flat products
JPH0663888A (en) Hand for robot
CN110654616A (en) Full-automatic bagging machine
NZ501082A (en) Orientating envelopes comprises rotating each alternate stack part so that successive stack parts are oppositely aligned
US20080175702A1 (en) Device for removing and disposing a stack of flat products
US5056300A (en) Bagging apparatus, and bag opening device for article-bagging
JP2541424B2 (en) Case automatic opening box, article removal, folding device
CN210555789U (en) Feeding device for dry goods packaging
JPH07308880A (en) Automatic palletizing method by means of robot
JP3161402U (en) Powder extraction device in the bag
JP2019182506A (en) Method for feeding packaging bags to bag feeding conveyor
EP1370724A1 (en) A method and an apparatus for removing pieces of cloth from a pile
CN106628460A (en) Vibrating and residue removing manner based automatic unpacking and charging method
CN208007454U (en) A kind of packaging production line of activated carbon
JP5457749B2 (en) Packaging article handling device